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78 lines
3.0 KiB
78 lines
3.0 KiB
import numpy as np
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from openpilot.common.transformations.orientation import rot_from_euler
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from openpilot.common.transformations.camera import (
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FULL_FRAME_SIZE, get_view_frame_from_calib_frame, view_frame_from_device_frame,
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eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics)
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# segnet
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SEGNET_SIZE = (512, 384)
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def get_segnet_frame_from_camera_frame(segnet_size=SEGNET_SIZE, full_frame_size=FULL_FRAME_SIZE):
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return np.array([[float(segnet_size[0]) / full_frame_size[0], 0.0],
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[0.0, float(segnet_size[1]) / full_frame_size[1]]])
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segnet_frame_from_camera_frame = get_segnet_frame_from_camera_frame() # xx
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# MED model
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MEDMODEL_INPUT_SIZE = (512, 256)
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MEDMODEL_YUV_SIZE = (MEDMODEL_INPUT_SIZE[0], MEDMODEL_INPUT_SIZE[1] * 3 // 2)
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MEDMODEL_CY = 47.6
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medmodel_fl = 910.0
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medmodel_intrinsics = np.array([
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[medmodel_fl, 0.0, 0.5 * MEDMODEL_INPUT_SIZE[0]],
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[0.0, medmodel_fl, MEDMODEL_CY],
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[0.0, 0.0, 1.0]])
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# BIG model
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BIGMODEL_INPUT_SIZE = (1024, 512)
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BIGMODEL_YUV_SIZE = (BIGMODEL_INPUT_SIZE[0], BIGMODEL_INPUT_SIZE[1] * 3 // 2)
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bigmodel_fl = 910.0
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bigmodel_intrinsics = np.array([
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[bigmodel_fl, 0.0, 0.5 * BIGMODEL_INPUT_SIZE[0]],
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[0.0, bigmodel_fl, 256 + MEDMODEL_CY],
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[0.0, 0.0, 1.0]])
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# SBIG model (big model with the size of small model)
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SBIGMODEL_INPUT_SIZE = (512, 256)
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SBIGMODEL_YUV_SIZE = (SBIGMODEL_INPUT_SIZE[0], SBIGMODEL_INPUT_SIZE[1] * 3 // 2)
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sbigmodel_fl = 455.0
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sbigmodel_intrinsics = np.array([
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[sbigmodel_fl, 0.0, 0.5 * SBIGMODEL_INPUT_SIZE[0]],
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[0.0, sbigmodel_fl, 0.5 * (256 + MEDMODEL_CY)],
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[0.0, 0.0, 1.0]])
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bigmodel_frame_from_calib_frame = np.dot(bigmodel_intrinsics,
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get_view_frame_from_calib_frame(0, 0, 0, 0))
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sbigmodel_frame_from_calib_frame = np.dot(sbigmodel_intrinsics,
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get_view_frame_from_calib_frame(0, 0, 0, 0))
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medmodel_frame_from_calib_frame = np.dot(medmodel_intrinsics,
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get_view_frame_from_calib_frame(0, 0, 0, 0))
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medmodel_frame_from_bigmodel_frame = np.dot(medmodel_intrinsics, np.linalg.inv(bigmodel_intrinsics))
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calib_from_medmodel = np.linalg.inv(medmodel_frame_from_calib_frame[:, :3])
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calib_from_sbigmodel = np.linalg.inv(sbigmodel_frame_from_calib_frame[:, :3])
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# This function is verified to give similar results to xx.uncommon.utils.transform_img
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def get_warp_matrix(device_from_calib_euler: np.ndarray, wide_camera: bool = False, bigmodel_frame: bool = False, tici: bool = True) -> np.ndarray:
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if tici and wide_camera:
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cam_intrinsics = tici_ecam_intrinsics
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elif tici:
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cam_intrinsics = tici_fcam_intrinsics
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else:
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cam_intrinsics = eon_fcam_intrinsics
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calib_from_model = calib_from_sbigmodel if bigmodel_frame else calib_from_medmodel
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device_from_calib = rot_from_euler(device_from_calib_euler)
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camera_from_calib = cam_intrinsics @ view_frame_from_device_frame @ device_from_calib
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warp_matrix: np.ndarray = camera_from_calib @ calib_from_model
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return warp_matrix
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